CN107643694B - Networking method supporting distributed attitude synchronous control of multiple moving bodies - Google Patents
Networking method supporting distributed attitude synchronous control of multiple moving bodies Download PDFInfo
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- CN107643694B CN107643694B CN201710776202.9A CN201710776202A CN107643694B CN 107643694 B CN107643694 B CN 107643694B CN 201710776202 A CN201710776202 A CN 201710776202A CN 107643694 B CN107643694 B CN 107643694B
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Abstract
The invention discloses a networking method supporting distributed attitude synchronous control of multiple moving bodies. The technical scheme of the invention is as follows: firstly, aiming at a specific multi-moving body system, a UDP communication protocol is utilized to build a distributed network; then, determining interaction information according to the control requirement, and determining the type and the data volume of data interaction; and finally, in order to ensure the synchronous starting of the control laws of the multiple moving bodies, a synchronous starting strategy of the distributed system based on the TCP communication protocol is set on the basis. The network established by the invention aiming at the distributed attitude synchronous control of the multiple moving bodies has high reliability, is simple and easy to configure, and effectively ensures that all nodes operate simultaneously by a synchronous starting strategy.
Description
Technical Field
The invention relates to a networking method for distributed attitude synchronous control of multiple moving bodies.
Background
Compared with a single moving body, the multi-moving body can finish tasks more efficiently and accurately, and even can finish complex tasks which cannot be finished by a single moving body; the distributed control can conveniently change the control mode, realize various complicated controls, and meanwhile, the danger caused by the fault is thoroughly dispersed, thereby improving the reliability of the control system. The distributed attitude synchronous control of multiple moving bodies is widely applied to the fields of industrial manufacturing, military and the like, such as synchronous operation of mechanical arms in industrial production, combined attack of missiles in the field of military and the like.
Due to the characteristics of the system, data interaction is required among all moving bodies, so that the construction of a network is a necessary technology for realizing the synchronous control of the multiple moving bodies, and the quality of the network directly influences the effect of a control algorithm. In a verification platform of a multi-moving-body distributed synchronous control algorithm, a universal networking method does not exist for different multi-moving-body systems; due to the characteristics of distributed control, how to realize synchronous starting of each moving body is also a key problem on the basis of well established network.
The expensive equipment cost often restricts the scientific research and the application and popularization of the multi-moving-body synchronous control technology. The current multi-moving body networking board is specially customized according to specific application scenes because of the need, so that the use cost is obviously higher than that of a single-machine multi-moving body, and therefore, a networking mode which can expand and meet different synchronous control tasks needs to be researched.
Disclosure of Invention
The invention aims to: aiming at the existing problems, a networking method supporting multi-moving-body distributed posture synchronous control is provided to meet the requirements of diversity and expandability of multi-moving-body distributed posture synchronous control tasks.
The invention relates to a networking method for supporting distributed attitude synchronous control of multiple moving bodies, which comprises the following steps:
step 1: and building a distributed control system network.
Configuring a communication module for the moving bodies to be synchronously controlled, determining the number of network nodes based on the number of the moving bodies to be synchronously controlled, and setting a network topological structure among the moving bodies;
setting a network protocol to be UDP in a communication module of each network node, setting the port numbers of UDP ports of the same channel to be consistent, and setting the port numbers of the UDP ports of different channels to be different;
setting a remote IP address in a communication module of each network node based on a network topology structure between moving bodies;
step 2: determining interactive information according to control requirements:
determining a posture synchronous control law of the moving body according to synchronous control requirements, and accordingly determining interaction information among all nodes;
determining the type and the number of interactive information based on the interactive information among the nodes;
setting a data type in a communication module of each network node, determining the number of transmitting and receiving bytes according to the data type and the number of interactive information, and setting the number of bytes during communication in the communication module as the number of the transmitting and receiving bytes;
and step 3: setting a synchronous starting strategy:
based on a network topological structure, selecting one node from all network nodes as a server node, and taking the other nodes as client nodes;
configuring synchronous start scripts in each network node, and setting synchronous start information interaction between the network nodes through a TCP (transmission control protocol) in a communication module;
the server node establishes TCP connection with each client node and sends check codes, each client node receives the check codes according to a predefined sequence, and after each client node confirms that the receiving is correct, the attitude synchronization control laws of all the network nodes are executed simultaneously.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
(1) the network is simple and easy to build.
(2) According to the synchronous starting strategy provided by the invention, the implementability of the multi-moving-body attitude synchronous control algorithm is ensured.
(3) The distributed control can conveniently change the control mode, realize various complicated controls, and meanwhile, the danger caused by the fault is thoroughly dispersed, thereby improving the reliability of the control system.
Drawings
FIG. 1: a three-degree-of-freedom helicopter simulator model diagram.
FIG. 2: a communication topology map.
FIG. 3: data flow graph.
FIG. 4: and (4) a topological diagram of a multi-moving-body system.
FIG. 5: a synchronous start policy logic flow diagram.
FIG. 6: and the reference signal is a networking experimental result diagram of multi-moving-body distributed attitude synchronous control of a cosine function.
FIG. 7: and a networking experimental result diagram of multi-moving-body distributed attitude synchronous control with a reference signal being a sine function.
FIG. 8: and a networking experimental result diagram of multi-moving body distributed attitude synchronous control with a constant reference signal.
Detailed Description
Examples of the experiments
The networking method is used for networking a plurality of three-degree-of-freedom helicopter simulators, wherein the three-degree-of-freedom helicopter simulators can simulate the flight attitude in the actual flight task, and the three-degree-of-freedom helicopter simulators can simulate the flight attitude in the actual flight taskThere are 3 degrees of freedom, namely pitch (pitch) about the pitch axis, elevation (elevation) about the elevation axis, and course (track) about the yaw axis. When the rotating speeds of the front motor and the rear motor are increased or reduced simultaneously, the lifting angle can be changed, and when the front motor and the rear motor rotate in a differential mode, the pitching angle can be changed, so that the balance rod is driven, a yawing moment is generated, and the yawing angle is changed. The model of the three-degree-of-freedom helicopter simulator is shown in fig. 1, wherein a solid line represents a reference signal, namely expected values of the postures of the three-degree-of-freedom helicopter simulator, and the remaining dotted lines are actual posture curves of the simulators. Points E and G represent front and rear motors, FbAnd FfThe lift force generated by the front motor and the rear motor is represented, the machine body EG is connected with a balance rod BC through a CD, the machine body can rotate around the rod BC, and the rotation angle is defined as a pitch angle (phi). The main bar AG is connected to the base G and perpendicular to the ground, and the balance bar BC is rotatable about the main bar with a rotation angle defined as a heading angle (ψ). The rotating speeds of the two propellers are changed simultaneously, so that the body can rotate around the lifting axis AH to generate a lifting angle (theta). The balance rod has one weight block in the end for balancing the lift moment the machine produces.
In this embodiment, only the model pitch channel is considered. The multiple three-degree-of-freedom helicopter simulators can test the effectiveness and the real-time performance of the multi-moving-body distributed attitude synchronous control networking.
And carrying out an attitude synchronization control experiment on a pitching channel of the system. Selecting three-degree-of-freedom helicopter emulators, respectively controlling the three-degree-of-freedom helicopter emulators through three computers, setting a third machine as a server (IP: 192.168.103), a first machine (IP: 192.168.101) and a second machine (IP: 192.168.102) as clients, setting UDP ports according to the first step of the invention, and adopting a communication topological diagram shown in figure 2.
The distributed attitude synchronization control law of the multiple moving bodies adopted in the experiment is as follows (the topological diagram of the multiple moving body system is shown in the attached figure 4):
uρi(t) represents a control signal of network node i, uρj(t) control signals for neighboring nodes, NiNumber of neighbor nodes representing node i, aijAnd biIndicating the communication strength between the ith node and the neighbor, reference signal,
is the PID control gain of the ith node, eρi(t) an error signal representing the angle signal of the ith node and the desired angle signal,
representing a first order angle estimate of the error signal at the ith node,
representing the expected angle second derivative estimated value, because the encoder has higher measurement precision, the type of data interaction of each node needs to be a double-precision floating point type with the size of 24 bytes, and the data type and the size are configured into a receiving module and a sending module, and the data flow is shown in figure 3, wherein u isρi(i ═ 1,2,3) denotes a control signal, αiAnd betaiAnd (i ═ 1,2,3) are angle information of the elevation angle and the pitch angle, respectively, and subscripts represent simulator numbers.
The synchronous start strategy determines that the check code is the character "a" and the logic flow diagram of the synchronous start strategy is shown in fig. 5.
Setting the reference signals in the control model as the same cosine signals on three computers, and operating the initialization program of the three-degree-of-freedom helicopter; and compiling a control model, operating a synchronous starting program of the third machine after success, and respectively starting the synchronous starting programs of the second machine and the first machine according to the logic sequence. The experimental results are shown in fig. 6, wherein the solid line represents the reference signal, i.e. the expected values of the attitude of the three-degree-of-freedom simulators, and the remaining dotted lines are the actual attitude curves of the simulators.
The same applies to the above procedure by only converting the reference signal into a sinusoidal signal and a constant signal. The experimental result of the sine function of the reference signal is shown in figure 7, and the experimental result of the constant value of the reference signal is shown in figure 8.
The test result shows that the network established by the distributed attitude synchronous control of the multiple moving bodies has high reliability, is simple and easy to configure, and the synchronous starting strategy effectively ensures that all nodes operate simultaneously.
While the invention has been described with reference to specific embodiments, any feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise; all of the disclosed features, or all of the method or process steps, may be combined in any combination, except mutually exclusive features and/or steps.
Claims (1)
1. A networking method for supporting distributed attitude synchronous control of a plurality of moving bodies is characterized by comprising the following steps:
step 1: building a distributed control system network:
configuring a communication module for the moving bodies to be synchronously controlled, determining the number of network nodes based on the number of the moving bodies to be synchronously controlled, and setting a network topological structure among the moving bodies: the network nodes are used for controlling the moving bodies to be synchronously controlled and are connected with each other through a communication module in a network manner;
setting a network protocol to be UDP in a communication module of each network node, setting the port numbers of UDP ports of the same channel to be consistent, and setting the port numbers of the UDP ports of different channels to be different;
setting a remote IP address in a communication module of each network node based on a network topology structure between moving bodies;
step 2: determining interactive information according to control requirements:
determining a posture synchronous control law of the moving body according to synchronous control requirements, and accordingly determining interaction information among network nodes;
determining the type and the number of interactive information based on the interactive information among the network nodes;
setting a data type in a communication module of each network node, determining the number of transmitting and receiving bytes according to the data type and the number of interactive information, and setting the number of bytes during communication in the communication module as the number of the transmitting and receiving bytes;
wherein, the attitude synchronization control law is as follows:
uρi(t) represents a control signal of network node i, uρj(t) control signals for neighboring nodes, NiNumber of neighbor nodes, e, representing network node iρi(t) an error signal representing the angle signal of the ith network node from the desired angle signal,
representing the error signal eρi(t) estimating the first-order angle of the image,
second derivative estimate, a, representing the desired angle signalijAnd biRepresenting the strength of communication between the ith network node and the neighbor, reference signal,
represents the PID control gain of the ith network node;
and step 3: setting a synchronous starting strategy:
based on a network topological structure, selecting one network node from all network nodes as a server node, and taking the other network nodes as client nodes;
configuring synchronous start scripts in each network node, and setting synchronous start information interaction between the network nodes through a TCP (transmission control protocol) in a communication module;
the server node establishes TCP connection with each client node and sends check codes, each client node receives the check codes according to a predefined sequence, and after each client node confirms that the receiving is correct, the attitude synchronization control laws of all the network nodes are executed simultaneously.
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| US20050163151A1 (en) * | 2003-08-12 | 2005-07-28 | Omnitek Partners Llc | Projectile having a casing and/or interior acting as a communication bus between electronic components |
| US7512714B2 (en) * | 2004-08-31 | 2009-03-31 | Honeywell International Inc. | System and method for transmitting ACARS messages over a TCP/IP data communication link |
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